From 281cf58259e8342a935e94ebbb37552f47bd22e4 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Wed, 13 Feb 2013 18:50:59 +0100 Subject: [PATCH] [sys_time] cleanup: use sys_time.nb_x instead of old cpu_time_x --- sw/airborne/boards/lisa_m/baro_board_i2c.c | 2 +- sw/airborne/boards/lisa_m/baro_board_spi.c | 2 +- sw/airborne/booz/test/booz2_test_crista.c | 2 +- sw/airborne/firmwares/tutorial/main_demo3.c | 2 +- sw/airborne/mcu_periph/sys_time.h | 3 --- sw/airborne/modules/meteo/dust_gp2y.c | 2 +- sw/airborne/modules/meteo/humid_htm_b71.c | 2 +- sw/airborne/modules/meteo/ir_mlx.c | 2 +- sw/airborne/modules/sensors/baro_ms5611_i2c.c | 6 +++--- sw/airborne/modules/sensors/baro_scp.c | 2 +- sw/airborne/modules/sensors/baro_scp_i2c.c | 2 +- sw/airborne/subsystems/gps.h | 2 +- sw/airborne/subsystems/gps/gps_nmea.h | 2 +- sw/airborne/test/subsystems/test_ahrs.c | 2 +- 14 files changed, 15 insertions(+), 18 deletions(-) diff --git a/sw/airborne/boards/lisa_m/baro_board_i2c.c b/sw/airborne/boards/lisa_m/baro_board_i2c.c index 40e4b5cbbf..30550e167b 100644 --- a/sw/airborne/boards/lisa_m/baro_board_i2c.c +++ b/sw/airborne/boards/lisa_m/baro_board_i2c.c @@ -58,7 +58,7 @@ void baro_init(void) { } void baro_periodic(void) { - if (cpu_time_sec > 1) { + if (sys_time.nb_sec > 1) { if (ms5611_status == MS5611_IDLE) { /* start D1 conversion */ ms5611_status = MS5611_CONV_D1; diff --git a/sw/airborne/boards/lisa_m/baro_board_spi.c b/sw/airborne/boards/lisa_m/baro_board_spi.c index cb6f813e12..c6fe58d467 100644 --- a/sw/airborne/boards/lisa_m/baro_board_spi.c +++ b/sw/airborne/boards/lisa_m/baro_board_spi.c @@ -81,7 +81,7 @@ void baro_init(void) { } void baro_periodic(void) { - if (cpu_time_sec > 1) { + if (sys_time.nb_sec > 1) { if (ms5611_status == MS5611_IDLE) { /* start D1 conversion */ ms5611_status = MS5611_CONV_D1; diff --git a/sw/airborne/booz/test/booz2_test_crista.c b/sw/airborne/booz/test/booz2_test_crista.c index ffacad8ac1..21fdb9c021 100644 --- a/sw/airborne/booz/test/booz2_test_crista.c +++ b/sw/airborne/booz/test/booz2_test_crista.c @@ -76,7 +76,7 @@ static inline void main_periodic_task( void ) { // uint16_t foo = ami601_status; // DOWNLINK_SEND_BOOT(&foo); //#endif - // if (cpu_time_sec > 2) + // if (sys_time.nb_sec > 2) imu_periodic(); } diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c index f6161fd0c6..b6a1a9f810 100644 --- a/sw/airborne/firmwares/tutorial/main_demo3.c +++ b/sw/airborne/firmwares/tutorial/main_demo3.c @@ -28,6 +28,6 @@ static inline void main_init( void ) { static inline void main_periodic_task( void ) { LED_TOGGLE(1); Uart0PrintString("demo3 running since "); - Uart0PrintHex32(cpu_time_sec); + Uart0PrintHex32(sys_time.nb_sec); Uart0PrintString(" seconds\n"); } diff --git a/sw/airborne/mcu_periph/sys_time.h b/sw/airborne/mcu_periph/sys_time.h index 9f00a70251..471572bf20 100644 --- a/sw/airborne/mcu_periph/sys_time.h +++ b/sw/airborne/mcu_periph/sys_time.h @@ -60,9 +60,6 @@ struct sys_time { extern struct sys_time sys_time; -//FIXME temporary hack -#define cpu_time_sec sys_time.nb_sec -#define cpu_time_ticks sys_time.nb_sec_rem extern void sys_time_init(void); diff --git a/sw/airborne/modules/meteo/dust_gp2y.c b/sw/airborne/modules/meteo/dust_gp2y.c index 2218c50417..0eb39be798 100644 --- a/sw/airborne/modules/meteo/dust_gp2y.c +++ b/sw/airborne/modules/meteo/dust_gp2y.c @@ -59,7 +59,7 @@ void dust_gp2y_periodic( void ) { if (dust_gp2y_status == DUST_GP2Y_IDLE) { I2CReceive(GP2Y_I2C_DEV, gp2y_trans, GP2Y_SLAVE_ADDR, 2); } - else if (dust_gp2y_status == DUST_GP2Y_UNINIT && cpu_time_sec > 1) { + else if (dust_gp2y_status == DUST_GP2Y_UNINIT && sys_time.nb_sec > 1) { dust_gp2y_status = DUST_GP2Y_IDLE; } } diff --git a/sw/airborne/modules/meteo/humid_htm_b71.c b/sw/airborne/modules/meteo/humid_htm_b71.c index 2ee961c712..636e1058ec 100644 --- a/sw/airborne/modules/meteo/humid_htm_b71.c +++ b/sw/airborne/modules/meteo/humid_htm_b71.c @@ -57,7 +57,7 @@ void humid_htm_init(void) { } void humid_htm_start( void ) { - if (cpu_time_sec > 1) { + if (sys_time.nb_sec > 1) { /* measurement request: wake up sensor, sample temperature/humidity */ I2CTransmit(HTM_I2C_DEV, htm_trans, HTM_SLAVE_ADDR, 0); htm_status = HTM_MR; diff --git a/sw/airborne/modules/meteo/ir_mlx.c b/sw/airborne/modules/meteo/ir_mlx.c index 1aad46a503..4f525a0609 100644 --- a/sw/airborne/modules/meteo/ir_mlx.c +++ b/sw/airborne/modules/meteo/ir_mlx.c @@ -67,7 +67,7 @@ void ir_mlx_init( void ) { } void ir_mlx_periodic( void ) { - if (cpu_time_sec > 1) { + if (sys_time.nb_sec > 1) { if (ir_mlx_status >= IR_MLX_IDLE) { /* start two byte case temperature */ mlx_trans.buf[0] = MLX90614_TA; diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c index 8183c850f6..95f488d8c6 100644 --- a/sw/airborne/modules/sensors/baro_ms5611_i2c.c +++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.c @@ -88,7 +88,7 @@ void baro_ms5611_init(void) { } void baro_ms5611_periodic( void ) { - if (cpu_time_sec > 1) { + if (sys_time.nb_sec > 1) { if (ms5611_status >= MS5611_IDLE) { /* start D1 conversion */ ms5611_status = MS5611_CONV_D1; @@ -114,7 +114,7 @@ void baro_ms5611_periodic( void ) { } void baro_ms5611_d1( void ) { - if (cpu_time_sec > 1) { + if (sys_time.nb_sec > 1) { if (ms5611_status == MS5611_CONV_D1_OK) { /* read D1 adc */ ms5611_status = MS5611_ADC_D1; @@ -125,7 +125,7 @@ void baro_ms5611_d1( void ) { } void baro_ms5611_d2( void ) { - if (cpu_time_sec > 1) { + if (sys_time.nb_sec > 1) { if (ms5611_status == MS5611_CONV_D2_OK) { /* read D2 adc */ ms5611_status = MS5611_ADC_D2; diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.c index e3823e2379..94a2f67807 100644 --- a/sw/airborne/modules/sensors/baro_scp.c +++ b/sw/airborne/modules/sensors/baro_scp.c @@ -34,7 +34,7 @@ static void EXTINT_ISR(void) __attribute__((naked)); static void SPI1_ISR(void) __attribute__((naked)); void baro_scp_periodic(void) { - if (baro_scp_status == STA_UNINIT && cpu_time_sec > 1) { + if (baro_scp_status == STA_UNINIT && sys_time.nb_sec > 1) { baro_scp_start_high_res_measurement(); baro_scp_status = STA_INITIALISING; } diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c index 9cb30f29ba..c3e8da2a4e 100644 --- a/sw/airborne/modules/sensors/baro_scp_i2c.c +++ b/sw/airborne/modules/sensors/baro_scp_i2c.c @@ -48,7 +48,7 @@ void baro_scp_init( void ) { void baro_scp_periodic( void ) { - if (baro_scp_status == BARO_SCP_UNINIT && cpu_time_sec > 1) { + if (baro_scp_status == BARO_SCP_UNINIT && sys_time.nb_sec > 1) { baro_scp_start_high_res_measurement(); baro_scp_status = BARO_SCP_IDLE; diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/subsystems/gps.h index 3f722936fc..ff0d248dfb 100644 --- a/sw/airborne/subsystems/gps.h +++ b/sw/airborne/subsystems/gps.h @@ -81,7 +81,7 @@ struct GpsState { uint8_t nb_channels; ///< Number of scanned satellites struct SVinfo svinfos[GPS_NB_CHANNELS]; ///< holds information from the Space Vehicles (Satellites) - uint32_t last_fix_ticks; ///< cpu time in ticks at last valid fix + uint32_t last_fix_ticks; ///< cpu time ticks at last valid fix uint32_t last_fix_time; ///< cpu time in sec at last valid fix uint16_t reset; ///< hotstart, warmstart, coldstart }; diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h index 9adcc78894..950e5ff56d 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.h +++ b/sw/airborne/subsystems/gps/gps_nmea.h @@ -69,7 +69,7 @@ extern struct GpsNmea gps_nmea; nmea_parse_msg(); \ if (gps_nmea.pos_available) { \ if (gps.fix == GPS_FIX_3D) { \ - gps.last_fix_ticks = cpu_time_ticks; \ + gps.last_fix_ticks = sys_time.nb_sec_rem; \ gps.last_fix_time = sys_time.nb_sec; \ } \ _sol_available_callback(); \ diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c index 935a66ffa0..3871888bf6 100644 --- a/sw/airborne/test/subsystems/test_ahrs.c +++ b/sw/airborne/test/subsystems/test_ahrs.c @@ -71,7 +71,7 @@ static inline void main_init( void ) { static inline void main_periodic_task( void ) { - if (cpu_time_sec > 1) imu_periodic(); + if (sys_time.nb_sec > 1) imu_periodic(); RunOnceEvery(10, { LED_PERIODIC();}); main_report(); }